@inproceedings{a00328b788864e16a384d88dceb05799,
title = "Trajectory planning for multi-arm space walking robot",
abstract = "In this paper, a trajectory planning algorithm for a multi-arm space robot is proposed. The robot is capable of walking on the exterior of a large space station. Based on the maneuver strategy of the walking, continuous and smooth trajectories of the manipulator end-effectors are firstly determined by a five times polynomial interpolation method. Then, the kinematics describing the relationship between the end-effector and the joint angles, as well as the platform, is formulated. An optimization solution of the joint motions is calculated to describe the motion of the manipulators. Finally, a collision detection algorithm is developed to guarantee the security during the operation. Numerical results of a triple-arm space robotic system are given to demonstrate the effectiveness of the proposed algorithms.",
author = "Xiaoyu Chu and Jingrui Zhang and Quan Hu and Fei Liu and Youyi Wang and Wenbo Li and Liang Tang",
year = "2016",
language = "English",
isbn = "9780877036333",
series = "Advances in the Astronautical Sciences",
publisher = "Univelt Inc.",
pages = "1409--1426",
editor = "Ozimek, {Martin T.} and Renato Zanetti and Bowes, {Angela L.} and Russell, {Ryan P.} and Ozimek, {Martin T.}",
booktitle = "Spaceflight Mechanics 2016",
address = "United States",
note = "26th AAS/AIAA Space Flight Mechanics Meeting, 2016 ; Conference date: 14-02-2016 Through 18-02-2016",
}